CN107290346B - Pavement crack detection system based on two-dimensional image and line structure optical sensor - Google Patents
Pavement crack detection system based on two-dimensional image and line structure optical sensor Download PDFInfo
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- CN107290346B CN107290346B CN201710535246.2A CN201710535246A CN107290346B CN 107290346 B CN107290346 B CN 107290346B CN 201710535246 A CN201710535246 A CN 201710535246A CN 107290346 B CN107290346 B CN 107290346B
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Abstract
The invention discloses a pavement crack detection system based on fusion of a two-dimensional image and a linear structured light sensor, which comprises a detection vehicle, a two-dimensional image module, a linear structured light sensor module and a computer control module, wherein the two-dimensional image module, the linear structured light sensor module and the computer control module are arranged on the detection vehicle, the two-dimensional image module is arranged at the front end of the detection vehicle, the two-dimensional image module collects a two-dimensional image of a front pavement and utilizes an image recognition method to preliminarily judge whether cracks exist, and the computer control module sends a control signal for opening or closing the storage function of the linear structure optical sensor module to the linear structure optical sensor module arranged at the rear end of the detection vehicle according to a decision criterion according to the detection result of the two-dimensional image module, the linear structure optical sensor module collects the cross section data of the road surface and determines whether to store the collected data according to the decision result of the computer control module, so that the linear structure optical sensor module is controlled to store the cross section data which possibly contains cracks.
Description
Technical Field
The invention provides a detection system scheme, relates to a pavement crack detection system based on line structured light and a pavement crack detection system based on a two-dimensional image, and belongs to the technical field of pavement detection based on computer vision.
Background
At present, in the field of road crack detection, a mainstream detection system still adopts a road crack detection system based on a two-dimensional image, the detection basis is the difference between the illumination characteristic of a crack under a certain illumination condition and the road surface, but the detection is not the essential characteristic of the crack, so that crack depth information cannot be obtained. And is easily interfered by conditions such as illumination, shadow, road surface oil stain, dry-wet color difference and the like in the collecting process.
The line structured light three-dimensional detection technology has the advantages of high detection precision, simple structure and resistance to interference of conditions such as illumination, shadow, road surface oil stain, dry-wet color difference and the like, and thus becomes a research hotspot of current crack detection. The pavement crack detection system based on the line structured light can acquire three-dimensional cross section data of a pavement, and the basic characteristic of cracks, namely depth information, is used as the basis for detecting the cracks to enable the detection to be more accurate, but the data volume is too large, so that the system needs to invest a large amount of storage cost, and the working time of the system is limited.
Disclosure of Invention
The invention mainly aims to overcome the defects in the existing system, provides a pavement crack detection system scheme based on the fusion of a two-dimensional image and a line-structured optical sensor, and is particularly suitable for pavement crack detection with high precision and long-time work.
The invention aims to solve the technical problem of providing a pavement crack detection system scheme based on the fusion of a two-dimensional image and a line-structured optical sensor, which has the advantages of compact structure, convenient assembly and disassembly, safety, reliability and strong practicability, not only can achieve high-precision pavement crack detection, but also greatly reduces the cost of the pavement crack detection system and greatly increases the working time of the system.
Another technical problem to be solved by the present invention is to design the structural parameters of the system and provide a decision criterion to make the modules work in order.
The invention provides a pavement crack detection system scheme based on fusion of a two-dimensional image and a linear structured light sensor, which comprises a detection vehicle, and a two-dimensional image module, a linear structured light sensor module, a computer control module and a system bracket which are arranged on the detection vehicle.
The two-dimensional image module is positioned at the front end of the detection vehicle, acquires a two-dimensional image of a front road surface and preliminarily judges whether the road surface has cracks or not on line by using an image identification method; the line-structured light sensor module is positioned at the rear end of the detection vehicle, collects cross section data of a road surface and determines whether to store the collected data according to a decision result of the computer control module; and the computer control module sends a control signal for opening or closing the storage function of the linear structure light sensor module according to the detection result of the two-dimensional image module and the decision criterion.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the utility model provides a road surface crack detecting system based on two-dimensional image fuses with line structure light sensor which characterized in that: the system comprises a detection vehicle 3, a two-dimensional image module 2, a line-structured light sensor module 5 and a computer control module 4, wherein the two-dimensional image module 2 is arranged at the front end of the detection vehicle 3, the line-structured light sensor module 5 is arranged at the rear end of the detection vehicle 3, the two-dimensional image module 2 collects a two-dimensional image of a front road surface 1 and preliminarily judges whether a crack exists on the road surface on line by using an image recognition method, the detection result is transmitted to the computer control module 4, the computer control module 4 sends a control signal for opening or closing a storage function of the line-structured light sensor module 5 according to a decision criterion according to the detection result of the two-dimensional image module 2, the line-structured light sensor module 5 collects cross section data of the road surface 1 and decides whether to store the collected data according to the decision result of the computer control module 4, and therefore the line-structured light sensor module 5 stores the cross, the decision criteria are as follows: in a certain detection range, if the two-dimensional image module 2 detects a crack, the computer control module 4 turns on the storage function of the line-structured light sensor module 5, otherwise, turns off the storage function of the line-structured light sensor module 5.
The distance between the two-dimensional image module 2 and the detection range of the line structured light sensor module 5 is a first structural parameter 7 of the system, which preferably satisfies the following relation:
in the formula: l is a first structural parameter 7;
v is the running speed of the detection vehicle 3;
h is the detection range width of the road surface detection system;
t1is calculated for two-dimensional image recognition in unit areaThe time used for the method;
t2the computer control module 4 is configured to turn on or off the time it takes for the memory function of the line structured light sensor module 5.
Further, the width of the detection range of the line structured light sensor module 5 is a second structural parameter 6, and the second structural parameter 6 is greater than or equal to the detection range width requirement of the detection system.
Furthermore, the width of the detection range of the two-dimensional image module 2 is a third structural parameter 8, and the third structural parameter 8 is greater than or equal to the second structural parameter 6.
In the system described above, the length of the detection range between the two decisions described in the decision criterion is the length of the detection range of the two-dimensional image module 2 plus the first structural parameter 7.
In one embodiment of the system of the present invention, the line structured light sensor module 5 comprises a line laser 9 and a camera 10, wherein the line laser 9 and the camera 10 are at the same level.
In yet another embodiment, the line structured light sensor module 5 comprises a line laser 9 and a camera 10, wherein the line laser 9 and the camera 10 are in the same vertical plane, the line laser 9 is located at the upper part and the camera 10 is located below the line laser 9. Wherein preferably the line laser 9 is mounted above the upper half of the inspection vehicle, so that a wider scanning range can be obtained. Most preferably, the line laser 9 is mounted higher than the inspection vehicle roof, as long as a sufficient trade-off between safety and scanning range is obtained.
Compared with the prior system, the invention has the advantages that:
the utility model provides a road surface crack detecting system based on two-dimensional image and the integration of line structure light sensor, has realized the high-efficient operation of line structure light sensor module through the online preliminary judgement of two-dimensional image module to the road surface has the crack condition in advance, has not only solved the problem that two-dimensional image module can not acquire crack depth information, has solved the problem that line structure light sensor module leads to the too big unable storage of data volume because of long-time work moreover.
Drawings
FIG. 1 is a schematic structural diagram of a pavement crack detection system based on the fusion of a two-dimensional image and a line structured light sensor according to the present invention;
FIG. 2 is one embodiment of a detection system of the present invention;
FIG. 3 is another embodiment of the detection system of the present invention.
In the figure: 1. a pavement; 2. a two-dimensional image module; 3. detecting a vehicle; 4. a computer control module; 5. a line structured light sensor module; 6. a second structural parameter; 7. a first structural parameter; 8. a third structural parameter; 9. a line laser; 10. a camera.
Detailed Description
The foregoing is only an overview of the system scheme of the present invention, and in order to better understand the technical means of the present invention, the present invention is further described with reference to the accompanying drawings.
As shown in fig. 1, the road surface crack detection system based on the fusion of the two-dimensional image and the line-structured light sensor of the present invention includes a detection vehicle 3, and a two-dimensional image module 2, a line-structured light sensor module 5, and a computer control module 4 mounted on the detection vehicle. The two-dimensional image module 2 is positioned at the front end of the detection vehicle 3, collects two-dimensional images of the front road surface 1, preliminarily judges whether the road surface has cracks on line by using an image recognition method, and transmits a detection result to the computer control module 4; the line-structured light sensor module 5 is positioned at the rear end of the detection vehicle 3, collects cross section data of the road surface 1 and determines whether to store the collected data according to a decision result of the computer control module 4; the computer control module 4 sends a control signal for turning on or off the storage function of the line structured light sensor module 5 according to the decision criterion and the detection result of the two-dimensional image module 2. The decision criterion is: in a certain detection range, if the two-dimensional image module 2 detects a crack, the computer control module 4 turns on the storage function of the line-structured light sensor module 5, otherwise, turns off the storage function of the line-structured light sensor module 5. In the decision criterion, the interval time between two decisions should be the time when the line-structured light sensor module 5 moves to the position where the two-dimensional image module 2 is located before, and therefore the length of the detection range of the interval should be the length of the detection range of the two-dimensional image module 2 plus the distance between the two-dimensional image module 2 and the detection range of the line-structured light sensor module 5.
The first structural parameter 7 of the system is the distance between the two-dimensional image module 2 and the detection range of the line-structured light sensor module 5, and the design requirement of the system should satisfy the following condition, that is, the time taken for detecting the distance of the vehicle 3 in the same length as the first structural parameter 7 when the vehicle is running should be longer than the sum of the time taken for processing the two-dimensional image in the length and the time taken for the computer control module 4 to open or close the storage function of the line-structured light sensor module 5, and specifically satisfies the following relation:
in the formula: l is a first structural parameter 7;
v is the running speed of the detection vehicle 3;
h is the detection range width of the road surface detection system;
t1time used by a two-dimensional image recognition algorithm in a unit area;
t2the computer control module 4 is configured to turn on or off the time it takes for the memory function of the line structured light sensor module 5.
The second structural parameter 6 of the system is the detection range width of the line-structured light sensor module 5, and the value thereof should be greater than or equal to the detection range width required by the detection system.
The third structural parameter 8 of the system is the detection range width of the two-dimensional image module 2, and the value thereof should be greater than or equal to the detection range width of the line-structured light sensor module 5, i.e. the second structural parameter 6.
In practical applications, the line structured light sensor module 5 may adopt different structural modes according to the circumstances. Fig. 2 and 3 show two configurations in practical use. The line structured light sensor module 5 comprises a line laser 9 and a camera 10, and the laser 9 and the camera 10 can adopt different structural modes, so that different detection accuracies and detection ranges are realized, and the line structured light sensor module is suitable for different detection situations.
In fig. 2, a structural manner of the structured light sensor module 5 is shown, which adopts a structural manner that a line laser 9 and a camera 10 are on the same water surface, wherein the line laser 9 is vertically projected to a detected road surface, and the camera 10 collects light bar data from the other side. The method has high detection precision, but because the line laser 9 and the camera 10 are positioned on the same plane, the method is limited by the height of a detection vehicle during actual use, the width of the collected road surface is limited, and the method is suitable for high-precision detection of a single lane.
Fig. 3 shows another structure of the structured light sensor module 5, which uses a structure that the line laser 9 and the camera 10 are on the same vertical plane, wherein the line laser 9 is installed on the upper half of the detection vehicle, obliquely projects to the detected road surface, and the camera 10 is installed on the lower half of the detection vehicle, and obliquely collects the light bar data. In the mode, the line laser 9 can obliquely project, the projecting position is far, and a wider projecting surface is generated, so that the mode is not limited by the height of a detection vehicle, can acquire a wider road surface, and realizes the simultaneous detection of multiple lanes, but the mode is limited by the hardware condition of a camera and is not suitable for high-precision detection.
While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides a road surface crack detecting system based on two-dimensional image fuses with line structure light sensor which characterized in that: the system comprises a detection vehicle (3), a two-dimensional image module (2), a line structure light sensor module (5) and a computer control module (4), wherein the two-dimensional image module (2) is installed at the front end of the detection vehicle (3), the line structure light sensor module (5) is installed at the rear end of the detection vehicle (3), the two-dimensional image module (2) collects a two-dimensional image of a front road surface (1) and preliminarily judges whether the road surface has a crack by using an image recognition method, the detection result is transmitted to the computer control module (4), the computer control module (4) sends a control signal for opening or closing the storage function of the line structure light sensor module (5) according to a decision criterion according to the detection result of the two-dimensional image module (2), the line structure light sensor module (5) collects cross section data of the road surface (1) and decides whether to store the collected two-dimensional image module (2) according to the decision result of the computer control module (4) Data, whereby the line structured light sensor module (5) stores cross sectional data that may contain cracks, the decision criterion is as follows: in a certain detection range, if the two-dimensional image module (2) detects a crack, the computer control module (4) starts the storage function of the line-structured light sensor module (5), otherwise, the computer control module closes the storage function of the line-structured light sensor module (5),
the distance between the two-dimensional image module (2) and the detection range of the line-structured light sensor module (5) is a first structural parameter (7) of the system, and the first structural parameter and the second structural parameter should satisfy the following relation:
in the formula: l is a first structural parameter (7);
v is the running speed of the detection vehicle (3);
h is the detection range width of the road surface detection system;
t1time used by a two-dimensional image recognition algorithm in a unit area;
t2the computer control module (4) is used for opening or closing the time of the storage function of the line structure light sensor module (5).
2. The pavement crack detection system based on the fusion of the two-dimensional image and the line-structured light sensor as claimed in claim 1, wherein the width of the detection range of the line-structured light sensor module (5) is a second structural parameter (6), and the second structural parameter (6) is greater than or equal to the detection range width requirement of the detection system.
3. The pavement crack detection system based on the fusion of the two-dimensional image and the line-structured light sensor as claimed in claim 2, characterized in that the width of the detection range of the two-dimensional image module (2) is a third structural parameter (8), and the third structural parameter (8) is greater than or equal to the second structural parameter (6).
4. The pavement crack detection system based on the fusion of the two-dimensional image and the line-structured light sensor as claimed in claim 1, wherein the length of the certain detection range in the decision criterion is the length of the detection range of the two-dimensional image module (2) plus the first structural parameter (7).
5. The pavement crack detection system based on the fusion of two-dimensional images and line-structured light sensors as claimed in claim 1, characterized in that the line-structured light sensor module (5) comprises a line laser (9) and a camera (10), wherein the line laser (9) and the camera (10) are at the same horizontal plane.
6. The pavement crack detection system based on the fusion of two-dimensional images and line structured light sensors as claimed in claim 1, characterized in that the line structured light sensor module (5) comprises a line laser (9) and a camera (10), wherein the line laser (9) and the camera (10) are in the same vertical plane, the line laser (9) is located at the upper part, and the camera (10) is located below the line laser (9).
7. The pavement crack detection system based on the fusion of the two-dimensional image and the line-structured light sensor as claimed in claim 6, characterized in that the line laser (9) is installed at a position on the upper half or more of the detection vehicle.
8. The pavement crack detection system based on the fusion of two-dimensional images and line structured light sensors as claimed in claim 7, characterized in that the line laser (9) is installed at a position higher than the roof of the detection vehicle.
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| CN109975501B (en) * | 2019-03-22 | 2022-03-15 | 中国铁建大桥工程局集团有限公司 | A patrol and examine car for sponge city |
| CN110084844B (en) * | 2019-04-25 | 2023-03-28 | 中国民航大学 | Airport pavement crack detection method based on depth camera |
| CN112160227B (en) * | 2020-09-30 | 2022-03-18 | 珠海阔朗科技有限公司 | Intelligent pavement crack repair system |
| CN113561905B (en) * | 2021-05-07 | 2023-05-12 | 上海厉鲨科技有限公司 | Method, equipment and medium for acquiring installation and range of road disease inspection equipment |
| CN113189005B (en) * | 2021-05-10 | 2022-06-28 | 郑州大学 | Portable surface defect integrated detection device and surface defect automatic detection method |
| CN114111651A (en) * | 2021-11-25 | 2022-03-01 | 江苏科技大学 | Vehicle-mounted pavement depression detection method based on multi-line structured light |
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| JP2002039950A (en) * | 2000-07-21 | 2002-02-06 | Ohbayashi Corp | Method for detecting gap of concrete |
| JP2003132342A (en) * | 2001-10-19 | 2003-05-09 | Dainippon Printing Co Ltd | Image input method and device |
| CN1260544C (en) * | 2004-07-14 | 2006-06-21 | 天津大学 | Compatible and accurate calibration method for double eye line structure photo-sensor and implementing apparatus |
| CN101701919B (en) * | 2009-11-20 | 2011-05-11 | 长安大学 | Pavement crack detection system based on image and detection method thereof |
| KR101326991B1 (en) * | 2011-12-01 | 2013-11-13 | 현대자동차주식회사 | Apparatus and method for sensing property of road surface |
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